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This decade has witnessed extraordinary progresses and benefits in scaling down soft robotics to small scale for a wide range of potential and promising applications, including medical and surgical soft robots, wearable and rehabilitation robots, and unconstructed environments exploration. This perspective highlights recent research efforts in miniature soft robotics in a brief and comprehensive way in terms of actuation, powering, designs, fabrication, control, and applications in four sections. Section\u00a02 discusses the key aspects of materials selection and structural designs for small\u2010scale tethered and untethered actuation and powering, including fluidic actuation, stimuli\u2010responsive actuation, and soft living biohybrid materials, as well as structural forms from 1D to 3D. Section\u00a03 discusses the advanced manufacturing techniques at small scales for fabricating miniature soft robots, including lithography, mechanical self\u2010assembly, additive manufacturing, tissue engineering, and other fabrication methods. Section\u00a04 discusses the control systems used in miniature robots, including off\u2010board\/onboard controls and artificial intelligence\u2010based controls. Section\u00a05 discusses their potential broad applications in healthcare, small\u2010scale objects manipulating and processing, and environmental monitoring. Finally, outlooks on the challenges and opportunities are discussed.<\/jats:p>","DOI":"10.1002\/aisy.202300063","type":"journal-article","created":{"date-parts":[[2023,4,26]],"date-time":"2023-04-26T22:51:11Z","timestamp":1682549471000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":48,"title":["A Perspective on Miniature Soft Robotics: Actuation, Fabrication, Control, and Applications"],"prefix":"10.1002","volume":"6","author":[{"given":"Yinding","family":"Chi","sequence":"first","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering North Carolina State University  Raleigh NC 27695 USA"}]},{"given":"Yao","family":"Zhao","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering North Carolina State University  Raleigh NC 27695 USA"}]},{"given":"Yaoye","family":"Hong","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering 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